In this work, a new method to stabilize a vehicle, which is autonomously guided on the road by an optical sensor, is presented. Since the behaviour of a vehicle is nonlinear and contains mutual couplings in the dynamical variables, the design especially of algorithms for transverse control is based on the universal valid principle of feedback linearization. This method works independently from any operating point and thus, a high degree of accuracy and free pole assignment for the overall system is provided. The design of the control system is based on absolute angular velocities. A strategy transforming these variables into a relative system by an adequate transformation is described. Thus, the control error of the angle describing the direction of movement is forced to disappear. As all essential nonlinearities are compensated, a linear behaviour with free pole assignment can be imposed on the overall system. Disturbances are handled by an integral term in the control algorithm. Thus, stability and convergence can be guaranteed even in the case of constant disturbances. (A)
Abstract